{"title":"A High-Efficient Finite Difference Method for Flexible Manipulator with Boundary Feedback Control","authors":"Fushou Liu, D. Jin","doi":"10.34133/2021/9874563","DOIUrl":null,"url":null,"abstract":"The paper presents a high-efficient finite difference method for solving the PDE model of the single-link flexible manipulator system with boundary feedback control. Firstly, an abstract state-space model of the manipulator is derived from the original PDE model and the associated boundary conditions of the manipulator by using the velocity and bending curvature of the flexible link as the state variables. Then, the second-order implicit Crank-Nicolson scheme is adopted to discretize the state-space equation, and the second-order one-sided approximation is used to discretize the boundary conditions with excitations and feedback control. At last, the state-space equation combined with the boundary conditions of the flexible manipulator is transformed to a system of linear algebraic equations, from which the response of the flexible manipulator can be easily solved. Numerical simulations are carried out to simulate the manipulator under various excitations and boundary feedback control. The results are compared with ANSYS to demonstrate the accuracy and high efficiency of the presented method.","PeriodicalId":44234,"journal":{"name":"中国空间科学技术","volume":"27 1","pages":""},"PeriodicalIF":0.5000,"publicationDate":"2021-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"12","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"中国空间科学技术","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.34133/2021/9874563","RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"ENGINEERING, AEROSPACE","Score":null,"Total":0}
引用次数: 12
Abstract
The paper presents a high-efficient finite difference method for solving the PDE model of the single-link flexible manipulator system with boundary feedback control. Firstly, an abstract state-space model of the manipulator is derived from the original PDE model and the associated boundary conditions of the manipulator by using the velocity and bending curvature of the flexible link as the state variables. Then, the second-order implicit Crank-Nicolson scheme is adopted to discretize the state-space equation, and the second-order one-sided approximation is used to discretize the boundary conditions with excitations and feedback control. At last, the state-space equation combined with the boundary conditions of the flexible manipulator is transformed to a system of linear algebraic equations, from which the response of the flexible manipulator can be easily solved. Numerical simulations are carried out to simulate the manipulator under various excitations and boundary feedback control. The results are compared with ANSYS to demonstrate the accuracy and high efficiency of the presented method.
期刊介绍：
"China Space Science and Technology" is sponsored by the China Academy of Space Technology. It is an academic and technical journal that comprehensively and systematically reflects China's spacecraft engineering technology. The purpose of this journal is to "exchange scientific research results, explore cutting-edge technologies, activate academic research, promote talent growth, and serve the space industry", and strive to make "China Space Science and Technology" a first-class academic and technical journal in China.
This journal follows the principle of "let a hundred flowers bloom and a hundred schools of thought contend", promotes academic democracy, and actively carries out academic discussions, making this journal an important platform for Chinese space science and technology personnel to publish research results, conduct academic exchanges, and explore cutting-edge technologies; it has become an important window for promoting and displaying China's academic achievements in space technology.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
